Classes
class	ExceptionPatternGenerator

class	FootPrint

class	NextStep

class	NextStepPgSot

class	NextStepTwoHandObserver

class	PatternGenerator
	This class provides dynamically stable CoM, ZMP, feet trajectories. It wraps up the algorithms implemented by the walkGenJRL library. More...

class	PGManager
	Finds the PG and sends steps to the PG. More...

class	Selector

class	StepChecker

class	StepComputer
	Generates footsteps. More...

class	StepComputerForce
	Generates footsteps. More...

class	StepComputerJoystick
	Generates footsteps. More...

class	StepComputerPos
	Generates footsteps. More...

class	StepObserver

class	StepQueue
	A step queue in the preview window. More...

class	StepTimeLine

class	WhichFootUpper

Enumerations
enum	SupportPhase { DOUBLE_SUPPORT_PHASE = 0, LEFT_SUPPORT_PHASE = 1, RIGHT_SUPPORT_PHASE = -1 }
	Define the support phase of the robot. More...

enum	ContactName { CONTACT_LEFT_FOOT, CONTACT_RIGHT_FOOT }
	Support foot identifier. More...

Enumeration Type Documentation

◆ ContactName

Support foot identifier.

Enumerator
CONTACT_LEFT_FOOT
CONTACT_RIGHT_FOOT

Define the support phase of the robot.

int dynamicgraph::sot::tata12